A pipe gripper device including first and second gripper bodies and a clevis assembly. The gripper bodies each have a head and an arm. The head forms a slot. The arm defines a grip segment proximate a leading end and forms a textured exterior surface. The arms are pivotably coupled and slidably contact one another along corresponding interiors. The clevis assembly includes a clevis mounted to the heads by a pin passing through the respective slots. The gripper device is transitionable between a contracted state and an expanded state by pivoting of the gripper bodies at the corresponding pivot points, with the pin sliding within the slots to define a limit of the expanded state. In the contracted state, the grip segments are readily inserted into a pipe; upon transitioning toward the expanded state, the grip segments engage the pipe interior for application of a pulling force.